Pool cleaner with drive motor navigation capabilities

ABSTRACT

A pool cleaner for cleaning a pool, the pool cleaner may include a filtering element for filtering fluid; at least one sensor for sensing an actual yaw of the pool cleaner and an actual orientation of the pool cleaner; at least one steering element that is configured to move the pool cleaner along a cleaning path during a cleaning process of a certain region of a sidewall of the pool; wherein the cleaning path comprises a cleaning path segment that has a cleaning path segment yaw that is a non-vertical yaw; wherein the cleaning path comprises less than a predetermined number of turns; wherein the predetermined number of turns is associated with another cleaning path that mostly includes vertical yaw cleaning path segments; and a controller that is configured to control the at least one steering element, based on the actual yaw of the pool cleaner.

CROSS REFERENCE

This application claims priority from US provisional patent 62/341,119filing date May 25, 2016. This application is a continuation in part ofU.S. patent application Ser. No. 15/586,288 filing date May 4, 2017.Both applications are incorporated herein by reference.

BACKGROUND

Cleaning robots are known in the art. They are expected to clean thepool by brushing the surfaces of the pool and filtering the fluid of thepool by removing foreign particles from that fluid.

Cleaning robots may also be required to climb on vertical wall surfaces,stairs, ledges, and the like to brush these surfaces and remove dirt orscum lines that accumulate at the waterlines.

It is of importance to brush and sweep walls because, similar to thedeep ends of pools, they are even more important areas of weakness thatallow algae growths to expand unchecked thereby infecting the entirepool surfaces.

In order to climb on vertical pool walls, pool cleaners are required totraverse various obstacles that may be mounted on said vertical wallsfor example: spot lamps, return jet outlets, ladders.

Usually, pool cleaners are programmed to climb walls until reaching thewater line followed by a descent back to the floor. The wall cleaningcomprises performing vertical travelling in imaginary vertical boxes orstrips.

The continuous ascending and descending on pool walls is atime-consuming activity.

There is a growing need to provide a pool cleaner that is capable oftravelling on the walls in an efficient and effective manner.

There is a growing need to provide a pool cleaner that is capable totraverse various obstacles that may be mounted on vertical walls (ornearly vertical walls) of a pool.

SUMMARY

There may be provided a pool cleaner for cleaning a pool, the poolcleaner may include a filtering element for filtering fluid; at leastone sensor for sensing an actual yaw of the pool cleaner and an actualorientation of the pool cleaner; at least one steering element that maybe configured to move the pool cleaner along a cleaning path, during acleaning process of a certain region of a sidewall of the pool; whereinthe cleaning path may include a cleaning path segment that has acleaning path segment yaw that may be a non-vertical yaw; wherein thecertain region may be fully submerged; and a controller that may beconfigured to control the at least one steering element, based on theactual yaw of the pool cleaner.

The cleaning path segment may be horizontal.

The cleaning path may be parallel (or oriented) to a floor of the pool,to the horizon and/or may be parallel (or oriented) to a water level ofthe pool.

Generally, horizontal “on the wall” movement places continual forces onthe pool cleaner to slip down towards the bottom surface due togravitation.

Generally, a sideways angled movement “at the water line” placescontinual forces on the pool cleaner to slip sideways towards the bottomsurface due to gravitation.

Any such gravitational forces require continual correction of the yaw.

The at least one steering element may be configured to move the poolcleaner at a forward or in a substantially linear direction along thecleaning path segment.

The at least one steering element may be configured to move the poolcleaner at a backward or in a substantially linear direction along thecleaning path segment.

The at least one steering element may include a jetting module.

The at least one steering element may include a steering module that maybe configured to independently drive different interfacing elements ofthe pool cleaner; wherein each interfacing element interfaces betweenthe pool cleaner and the pool.

The at least one steering element further may include a jetting module.

The at least one steering element further may include a maneuverablehandle.

The at least one steering element further may include a jetting moduleand a maneuverable handle.

The certain region may include an obstacle.

The certain region may be free of obstacles.

The at least one sensor is configured to detect that the pool cleanerreached the waterline; wherein the controller is configured to controlthe at least one steering element to position the pool cleaner at adesired waterline non-vertical yaw and to move the pool cleaner alongthe waterline while the pool cleaner is positioned at the desiredwaterline non-vertical yaw.

The at least one steering element may be configured to move the poolcleaner along multiple cleaning paths of the cleaning path, each of themultiple cleaning paths has a cleaning path segment yaw that may benon-vertical yaw.

The multiple cleaning path segments may overlap most the certain region.

The at least one steering element may be configured to move the poolcleaner along the cleaning path while maintaining in contact with thepool sidewall.

The certain region may be longer and wider than the pool cleaner.

A plurality of pool cleaning path segments out of the multiple poolcleaning paths may be parallel to each other and wherein the at leastone steering element may be configured to turn the pool cleaner whenmoving between the plurality of pool cleaning path segments whilemaintaining contact with the pool sidewall.

The controller may be configured to determine the cleaning path toinclude a minimal number of pool cleaner turns.

The controller may be configured to determine the cleaning path toinclude less than a predetermined number of turns; wherein thepredetermined number of turns may be associated with a cleaning paththat mostly includes vertical yaw cleaning path segments.

The at least one steering element may be configured to move the poolcleaner along the cleaning path while performing a minimal number ofturns.

The at least one steering element may be configured to move the poolcleaner along the cleaning path while performing less than apredetermined number of turns; wherein the predetermined number of turnsmay be associated with a cleaning path that mostly includes vertical yawcleaning path segments.

There may be provided a pool cleaner for cleaning a pool, the poolcleaner may include a filtering element for filtering fluid; at leastone sensor for sensing an actual yaw of the pool cleaner and an actualorientation of the pool cleaner; at least one steering element that maybe configured to move the pool cleaner along a cleaning path, during acleaning process of a certain region of a sidewall of the pool; whereinthe cleaning path may include a cleaning path segment that has acleaning path segment yaw that may be non-vertical yaw; wherein the atleast one steering element may include a steering module that may beconfigured to independently drive different interfacing elements of thepool cleaner; wherein each interfacing element interfaces between thepool cleaner and the pool; and a controller that may be configured tocontrol the at least one steering element, based on the actual yaw ofthe pool cleaner.

The at least one steering element further may include a jetting module.

The at least one steering element further may include a maneuverablehandle.

The at least one steering element further may include a jetting moduleand a maneuverable handle.

There may be provided a pool cleaner for cleaning a pool, the poolcleaner may include a filtering element for filtering fluid; acontroller that may be configured to determine a cleaning path of aregion of a sidewall of the pool to include less than a predeterminednumber of turns; wherein the predetermined number of turns may beassociated with a cleaning path that mostly includes vertical yawcleaning path segments; at least one sensor for sensing an actual yaw ofthe pool cleaner and an actual orientation of the pool cleaner; at leastone steering element that may be configured to move the pool cleaneralong the cleaning path, during a cleaning process of the certainregion; and wherein the controller if further configured to control theat least one steering element, based on the actual yaw of the poolcleaner.

There may be provided a pool cleaner for cleaning a pool, the poolcleaner may include a filtering element for filtering fluid; at leastone sensor for sensing an actual yaw of the pool cleaner and an actualorientation of the pool cleaner; at least one steering element that maybe configured to move the pool cleaner along a cleaning path, during acleaning process of a certain region of a sidewall of the pool and whilemaintaining contact with the pool sidewall; wherein the cleaning pathmay include a cleaning path segment that has a cleaning path segment yawthat may be a non-vertical yaw; and a controller that may be configuredto control the at least one steering element, based on the actual yaw ofthe pool cleaner.

There may be provided a method for operating a pool cleaner, the methodmay include sensing, by at least one sensor of the pool cleaner, anactual yaw of the pool cleaner and an actual orientation of the poolcleaner; cleaning, by the pool cleaner, a certain region of a sidewallof a pool while moving the pool cleaner, by at least one steeringelement of the pool cleaner, along a cleaning path that may include acleaning path segment that has a cleaning path segment yaw that may benon-vertical yaw; wherein the at least one steering element may includea steering module that may be configured to independently drivedifferent interfacing elements of the pool cleaner; wherein eachinterfacing element interfaces between the pool cleaner and the pool;and controlling, by a controller of the pool cleaner, the at least onesteering element, based on the actual yaw of the pool cleaner.

There may be provided a method for operating a pool cleaner, the methodmay include sensing, by at least one sensor of the pool cleaner, anactual yaw of the pool cleaner and an actual orientation of the poolcleaner; cleaning, by the pool cleaner, a certain region of a sidewallof a pool while moving the pool cleaner, by at least one steeringelement of the pool cleaner, along a cleaning path that may include acleaning path segment that has a cleaning path segment yaw that may benon-vertical yaw; wherein the certain region may be fully submerged; andcontrolling, by a controller of the pool cleaner, the at least onesteering element, based on the actual yaw of the pool cleaner.

The method may include at least one out of:

-   -   a. moving the pool cleaner at a forward direction along the        cleaning path segment.    -   b. moving the pool cleaner at a backward direction along the        cleaning path segment.    -   c. Contacting by the pool cleaner, the certain region of the        sidewall of the pool while performing a horizontal movement        along the certain region of the sidewall of the pool.    -   d. Independently driving, by a steering module of the at least        one steering element, different interfacing elements of the pool        cleaner; wherein each interfacing element interfaces between the        pool cleaner and the pool.    -   e. Moving the pool cleaner along multiple cleaning paths of the        cleaning path, each of the multiple cleaning paths has a        cleaning path segment yaw that is non-vertical yaw. The multiple        cleaning path segments may or may not overlap most of the        certain region.    -   f. Move the pool cleaner along the cleaning path while        maintaining in contact with the pool sidewall.    -   g. Turning the pool cleaner when moving between a plurality of        pool cleaning path segments while maintaining contact with the        pool sidewall. The plurality of pool cleaning path segments (out        of the multiple pool cleaning paths) may be parallel to each        other.    -   h. Determining (for example by the controller of the pool        cleaner or by another computer) the cleaning path to include a        minimal number of pool cleaner turns.    -   i. Determining (for example by the controller of the pool        cleaner or by another computer) the cleaning path to include        less than the predetermined number of turns.    -   j. Moving, by the at least one steering element, the pool        cleaner along the cleaning path while performing less than the        predetermined number of turns.    -   k. Detecting, by the at least one sensor, that the pool cleaner        reached the waterline.    -   l. Controlling, by the controller, the at least one steering        element to position the pool cleaner at a desired waterline        non-vertical yaw and to move the pool cleaner along the        waterline while the pool cleaner is positioned at the desired        waterline non-vertical yaw.    -   m. Determining the desired waterline non-vertical yaw based on a        desired waterline propagation speed.

There may be provided a pool cleaner that may include any combination ofany components illustrated in this patent application.

There may be provided a method that may include any combination of anysteps illustrated in this patent application.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter regarded as the invention is particularly pointed outand distinctly claimed in the concluding portion of the specification.The invention, however, both as to organization and method of operation,together with objects, features, and advantages thereof, may best beunderstood by reference to the following detailed description when readwith the accompanying drawings in which:

FIG. 1 illustrates a part of a pool cleaner according to an embodimentof the invention;

FIG. 2 illustrates a pool cleaner that performs maneuvers for bypassingan obstacle according to an embodiment of the invention;

FIG. 3 illustrates a part of a pool, a pool cleaner with afloatation/ballast maneuverable type carrying handle;

FIG. 4 is a view of a cleaning robot with a “bow-type” carrying handleperforming a waterline cleaning maneuverer according to an embodiment ofthe invention;

FIG. 5 illustrates a pool cleaner with a “bow-type” carrying handleaccording to an embodiment of the invention;

FIG. 6. illustrates a method according to an embodiment of theinvention;

FIG. 7 illustrates a pool cleaner that follows a mid-wall cleaning pathaccording to an embodiment of the invention;

FIG. 8 illustrates a pool cleaner that follows a mid-wall cleaning pathaccording to an embodiment of the invention;

FIG. 9 illustrates a pool cleaner that follows a cleaning path;

FIG. 10 illustrates a pool cleaner that follows a cleaning pathaccording to an embodiment of the invention;

FIG. 11 illustrates a pool cleaner that follows a cleaning pathaccording to an embodiment of the invention;

FIG. 12 illustrates a pool cleaner that follows a cleaning pathaccording to an embodiment of the invention;

FIG. 13 illustrates a method according to an embodiment of theinvention;

FIG. 14 illustrates a pool cleaner according to an embodiment of theinvention;

FIG. 15 illustrates a pool cleaner that performs maneuvers for bypassingan obstacle of a pool according to an embodiment of the invention;

FIG. 16 illustrates the pool cleaner in a horizontal position accordingto an embodiment of the invention;

FIG. 17 illustrates a pool cleaner that climbed on the sidewall of thepool and has its front end at an angle at the waterline, according to anembodiment of the invention; and

FIG. 18 illustrates a method according to an embodiment of theinvention.

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numerals may be repeated among the figures toindicate corresponding or analogous elements.

DETAILED DESCRIPTION OF THE DRAWINGS

In the following detailed description, numerous specific details are setforth in order to provide a thorough understanding of the invention.However, it will be understood by those skilled in the art that thepresent invention may be practiced without these specific details. Inother instances, well-known methods, procedures, and components have notbeen described in detail so as not to obscure the present invention.

Any reference in the specification to a system should be applied mutatismutandis to a method that can be executed by the system.

Because the illustrated embodiments of the present invention may for themost part, be implemented using electronic components and circuits knownto those skilled in the art, details will not be explained in anygreater extent than that considered necessary as illustrated above, forthe understanding and appreciation of the underlying concepts of thepresent invention and in order not to obfuscate or distract from theteachings of the present invention.

Any reference in the specification to a method should be applied mutatismutandis to a system capable of executing the method and should beapplied mutatis mutandis to a non-transitory computer readable mediumthat stores instructions that once executed by a computer result in theexecution of the method.

Any reference in the specification to a system should be applied mutatismutandis to a method that can be executed by the system and should beapplied mutatis mutandis to a non-transitory computer readable mediumthat stores instructions that once executed by a computer result in theexecution of the method.

According to an embodiment of the invention there may be provided a poolcleaner that has the capability of bypassing obstacles located atsidewalls of a pool by performing bypassing maneuvers that utilize onlya steering module that independently drives one or more first wheelsand/or tracks positioned at a first side of the pool cleaner (or atleast positioned at a first side in relation to a longitudinal axis thatvirtually passes through the middle of the pool cleaner) andindependently drives one or more second wheels and/or tracks positionedat a second side of the pool cleaner (or at least positioned at secondside in relation to a longitudinal axis that virtually passes throughthe middle of the pool cleaner).

The pool cleaner may or may not include a handle and/or may include anon-maneuverable handle. Having a pool cleaner without a maneuverablehandle and especially without a floatation/ballast maneuverable typecarrying handle reduced cost and simplifies the pool cleaner.

According to another embodiment of the invention the pool cleaner mayuse, in addition to the steering module, a maneuverable handle. Themaneuverable handle may be used when bypassing obstacles located atsidewalls of a pool and/or may be used when the pool cleaner performsother movements (such as waterline movements).

According to another embodiment of the invention the pool cleaner mayuse, a jetting module for performing jet based steering (or jet assistedsteering) that involves outputting fluid jets in order to assist insteering the pool cleaner.

According to yet another embodiment of the invention the pool cleanermay include, in addition to the steering module both jet based steeringand a maneuverable handle. One or more of the steering module, jet basedsteering and the maneuverable handle may be used in different scenarios.

The pool cleaner may clean a certain region of a sidewall of the pool bymoving along a cleaning path that include one or more cleaning pathsegments that have cleaning path segment yaws that are not vertical. Thecleaning path segment yaws may deviate from the vertical yaw by adeviation that has an absolute value that may range between five andninety degrees, especially between 30 and 90 degrees—especially between45 and 85 degrees.

For example, the pool cleaner may clean the certain region of the poolwhile maintaining contact with the sideway of the pool, and/or withoutcontacting the bottom of the pool and/or while performing a minimalnumber of turns.

The certain region could have been cleaned by performing mostly verticalmovements. In this case, the pool cleaner would reach the bottom andperform a turn and eventually return to the certain region.

Such a cleaning process will require a predefined number of turns. Thepredefined number of turns is not smaller than the ratio between thehorizontal dimension of the certain region and the width of the poolcleaner (or the width of the cleaning element—such as a brush wheel ofthe pool cleaner). The predefined number of turns may exceed the ratiowhere there is an overlap between parts of the certain region that arecleaned during different elevations of the pool cleaner.

In various cases, especially when the certain region has a horizontaldimension that exceeds the vertical dimension of the certain region—thesuggested cleaning pattern will include fewer turns, may even beperformed without leaving the sidewall—and thus may be faster and moreefficient.

It should be noted that the cleaning of the certain region may involvedeparting from the sidewall of the pool and then returning to thesidewall of the pool—but the number of departures may be smaller incomparison to the predefined number of turns.

The pool cleaner may use multiple cleaning elements in order to maintainin contact with the sidewall of the pool even when turning of changingdirection. For example—a strength of fluid jets may increase duringturns or in locations that are more susceptible to detachment from thesidewall of the pool.

The certain region may be completely submerged, may be wider and longerthan the pool cleaner, may include the entire sidewall, may include amajority (more than half) of the sidewall, may be partially submerged,and the like.

It should be noted that the pool cleaner may follow a cleaning path thatmay cover portion of multiple sidewalls—either one after the other mayrepetitively clean a part of a region of a sidewall, reach the bottom ofthe pool, propagate towards another sidewall, and clean an area ofanother region of another sidewall.

FIG. 1 illustrates a portion of a pool cleaner according to anembodiment of the invention.

The potion includes a sensor 52, a controller and a steering module thatincludes first motor 41, second motor 42, first transmission 43 formoving first interfacing elements such as first wheels/tracks 11 and asecond transmission 44 for moving second interfacing elements such assecond wheels/tracks 12.

The portion may include more than a single sensor.

Sensor 52 may be any sensor mentioned in the specification—such as butnot limited to a yaw sensor, an orientation or tilt sensor, aninclinometer, and the like.

It should be noted that a single sensor may sense multiple parameters ormay sense only a single parameter.

First motor 41 is coupled via first transmission 43 to the firstwheels/tracks 11.

Second motor 42 is coupled via second transmission 44 to the secondwheels/tracks 12.

First and second motors 41 and 42, first and second transmissions 43 and44 form a steering module that may independently drive first and secondtrack/wheels 11 and 12 respectively.

It is noted that the first and second motors 41 and 42 may drive one ormore brushwheels in addition to (or instead of) driving first and secondfirst and second track/wheels 11 and 12 respectively.

It is noted that the number of motors and/or transmissions may exceedtwo. Alternatively, a single motor and a single transmission that mayindependently drive the first and second track/wheels 11 and 12 may beprovided.

It is also noted that each one of the first and second wheels/tracks 11and 12 may include only wheels or a combination of wheels and tracks.

It is further noted that the number of wheels per side of the poolcleaner may exceed two and that the steering module may use 4×4 steeringcapabilities and thus may control (independently) the speed of eachwheel out of four wheels of the pool cleaner.

Controller 50 is for controlling the steering module.

Elements 42, 42, 43 and 44 may be enclosed by a housing of the poolcleaner.

FIG. 2 illustrates a pool cleaner 10 that performs maneuvers forbypassing an obstacle 21 of a pool 20 according to an embodiment of theinvention.

While FIG. 2 illustrates a maneuverable, with a floatation/ballast typecarrying handle 13 the pool cleaner may have a non-maneuverable handleor may not have any handle at all (See, for example, FIG. 15).

The pool cleaner 10 climbs a sidewall until reaching obstacle 21 (seepath segment 31), then moves downwards (path segment 32) and then movesrightwards and upwards (path segment 33) and bypasses obstacle 21.

Path segments 32 and 33 form bypassing maneuvers. The maneuvers may belinear (vertical, horizontal, oriented in relation to x and y axes),nonlinear (curved) or a combination of linear and non-linear maneuvers.

It should be noted that the pool cleaner may perform bypassing maneuverswithout first contacting the obstacle (path segment 31 may be obsolete)as the pool cleaner may sense (for example by using an optical sensor orany other sensor) the obstacle before reaching the obstacle.Alternatively, the pool cleaner may learn about (or be fed with) thelocation of the obstacle in advance and perform the bypassing maneuverseven without sensing the obstacle or contacting the obstacle.

The pool cleaner may also maintain a required waterline angle (arequired yaw) by using readings of sensor 52. The sensor 52 may be aninclinometer that can distinguish between the roll (x), pitch (y) andyaw (z) axis. A gyroscope or a combination fusion of gyro and aninclinometer may also be used.

According to an embodiment of the invention the movement of the poolcleaner is a function of the rotation speeds of the wheels/tracks (whichis sent by the first and second motors and/or by the first and secondtransmissions). For example, the motors can rotate faster or slower tocompensate each other for a given required trajectory of the poolcleaner. Additionally or alternatively, the first and secondtransmissions may change the rotation speeds of the tracks/wheels toprovide a given required trajectory.

For example—a bigger yaw at the wall ascension and waterline willprovide for a bigger angle (left or right) that will provide for fasterwaterline sideways movements. The angle, the tilting, the positive(between 0 and 90 degrees) or negative (between 0 to 90) degrees yaw andthe drive movement speeds are controlled by the drive motors using thefollowing formula to control motors speeds:Delta motors speed=K×(required yaw−actual yaw)Where:K=coefficientActual yaw reading may be derived from inclinometer sensor or a sensorfusion solution such as the sensor fusion solution suggested by Kionix,Inc., based in Ithaca, N.Y., USA.

At the waterline, and whilst in a vertical/perpendicular position inrelation to the swimming pool horizontal waterline, as soon as the poolcleaning robot front breaches the waterline the structural combinationof physical rotation of the drive motor(s) in tandem with one anothereliminates the need to have a flotation handle (in a diagonal ornon-diagonal position) to maintain direction stability and control andto move the pool cleaner sideways.

The pool cleaner may not require reaching the top waterline thresholdbut instead perform a mid-wall sideways turn of up to 90 degrees andtravel sideways along the wall while in a horizontal position (or otheroriented position) in relation to the pool floor.

Such a horizontal wall travel position may reduce the time of descendingback to the floor and climb up again. The cleaning path followed by thepool cleaner may be pre-programmed or selected from a handheld remotecontrol device menu.

The travelling along a wall may be performed in a pre-programmedscanning pattern such as back and forth parallel horizontal (or othernon-vertical yaw) path segments.

After finishing cleaning one wall, the pool cleaner may descend andtravel to another wall to start the same procedure again.

The pool cleaner may follow a cleaning path that may include a waterlinemovement. The waterline movement may be triggered in response to thesensing of a change of the yaw that improves the control over themanagement of the pool cleaner at the waterline by way of holding backthe pool cleaner from tipping over and by maintaining the pool cleanerin an attached position in relation to the horizontal waterline andwhereby the front transverse section (brush, wheels) of the pool cleanerremains substantially parallel to the waterline irrespective of theincreased weight that is exerted on the pool cleaner after it hasbeached the fluid line into air.

Roll or pitch angles may also keep the cleaner attached to the sidewall(not the yaw).

The pool-cleaning robot may then slide to either left or to the rightside and the cleaning brushes are thereby being kept steadily againstthe waterline to achieve an optimal waterline cleaning. This providesfor controlled, smooth and unhindered waterline movements

After the predetermined waterline cleaning program period ends, thedrive motors reverse direction and a descent from the wall back to thefloor commences.

The pool cleaner may calculate the approximate time it should take inorder for it to reach the waterline. If it has not reached the waterlinethis may mean that it has encountered wall obstacles some of which, butnot exclusively, are depicted in FIG. 6. See steps 101, 102, 103, 104,105 and 106 of FIG. 6.

FIG. 3 illustrates a pool cleaner that includes housing 14, interface(such as ring 18) for elevating and/or lowering the pool cleaner,interfacing elements such as first track/wheels 11 and secondtrack/wheels 12 as well as a floatation/ballast maneuverable typecarrying handle 13 that serves to both carry the cleaner around and alsoserve as a balancing tool. Such a maneuverable, double purpose handle,is well known in the industry but distinguishes the pool cleanermaneuverability from the preset specification. One or more fluidoutlets—such as side fluid outlet 55 and centre fluid outlet 51 areformed in the housing. A fluid inlet may be formed at the bottom of thehousing 14. The locations of the fluid inlets and/or outlets as well asthe shape, size, number, and locations of the fluid inlets and/oroutlets may differ from those illustrated in FIG. 3.

FIG. 4 illustrates pool cleaner 10 that includes wheels 11, tracks 12, afixed (non-manoeuvrable) handle such as bow-type shaped carrying handle13′, housing 14 and multiple apertures (formed in the housing) such asside fluid outlet 55 and centre fluid outlet 51 are formed in thehousing.

The terms aperture, inlet and outlet are used in an interchangeablemanner.

A jetting module (including at least partially within housing 14) jetsfluid 16 through a side fluid outlet and/or jets fluid 17 via centrefluid outlet.

The jetting module may include one or more fluid conduit, one or moreflow control element (such as a shutter) for controlling the flow offluid within the fluid conduit and/or into the fluid conduit and/oroutside the fluid conduit, one or more apertures through which the fluidexits the pool cleaner to form one or more jet of fluid, and a mechanism(such as a pump motor) for driving the fluid towards the exit of thefluid conduit. A non-limiting example of a jetting module is illustratedin U.S. Pat. No. 9,222,275 which is incorporated herein by reference.

The pool cleaner may include at least one steering element out of thesteering module, the jetting module, and a manoeuvrable handle. The poolcleaner may include only some of these steering elements and/or mayinclude more steering elements or other steering elements.

FIG. 4 illustrates pool cleaner 10 that climbed on the sidewall of thepool and has its front end slightly at an angle at the waterline. FIG.17 illustrates pool cleaner 10 that does not have a handle and does notuse jet propulsion, the pool cleaner climbed on the sidewall of the pooland has its front end at an angle at the waterline 222. FIG. 5illustrates the pool cleaner in a horizontal position. FIG. 16illustrates the pool cleaner in a horizontal position—wherein the poolcleaner does not have a handle.

Any of the pool cleaners of FIGS. 3, 4, 5, 16 and 17 may or may notinclude the steering module of FIG. 1.

The pool cleaner of FIG. 17 is more tilted in relation to a verticalaxis than the pool cleaner of FIG. 4. It should be noted that the yawangles of any pool cleaning robot may have any value.

FIG. 6 illustrates a method that includes steps 101, 102, 103, 104, 105and 106.

Step 101 includes detecting by the pool cleaner (by yaw inclinometerreading) if it reached a sidewall of a pool.

If yes—step 101 may be followed by step 102 of climbing up to water linewithin a predefined time-out.

Step 102 is followed by step 103 of checking if the pool cleaner reachedthe water line before the expiration of the pre-defined timeout.

If yes—step 103 is followed by step 104 of starting the drive motorclose-loop on-wall movement according to required yaw, that determinesmovement speed and direction.

If no—step 103 is followed by step 105 of determining that the poolcleaner reaches an obstacle.

Step 105 is followed by step 106 of having the pool cleaner drive downon the sidewall for a pre-defined time for bypassing the obstacle.

Step 106 is followed by step 104.

FIG. 7 illustrates a pool cleaner 10 that moves along horizontalcleaning path segments 91 and 92 while cleaning sidewall 210 of pool200.

The pool cleaner 10 may travel along cleaning path segment 91, make aturn or otherwise move to position itself at cleaning path segment 92and then move along cleaning path segment 92.

The pool cleaner 10 may travel along cleaning path segment 91, make aturn or otherwise move to position itself at cleaning path segment 92and then move along cleaning path segment 92.

FIG. 8 illustrates a pool cleaner 10 that moves along oriented cleaningpath segments 93, 94, 95 and 96 while bypassing obstacle 21 if sidewall210.

When moving along at least one of cleaning path segments 91, 92, 93, 94,95 and 96 the pool cleaner may perform a forward movement and/or abackward movement or a substantially linear that may be parallel to thecleaning path segment (longitudinal axis parallel to the cleaning pathsegment) or be tilted in relation to the cleaning path segment.

Each one of cleaning path segments 91, 92, 93, 94, 95 and 96 has anon-vertical yaw. While cleaning path segments 91, 92, 93, 94, 95 and 96are linear—the pool cleaner may move along non-linear cleaning pathssegments.

Referring to FIGS. 7 and 8—the pool cleaner may clean the entiresidewall 210 or any region of the sidewall 210.

FIG. 9 illustrates pool cleaner 10, pool bottom 220, sidewall 210 andanother sidewall 230 of the pool.

Pool cleaner 10 follows a cleaning path that includes mostly verticalyaw cleaning path segments 6. After cleaning a vertical yaw cleaningpath segment the pool cleaner 10 detach from sidewall 210, and makes oneor more turns (7) or other maneuvers on the bottom of the pool and/or onother parts of the pool—before starting to clean another vertical yawcleaning path segments 6. In order to clean the sidewall, the poolcleaner has to perform at least sixteen turns in order to positionitself in front of each vertical yaw cleaning path segments 6 of thecleaning path. The pool cleaner may follow any of the cleaning patternsof U.S. Pat. No. 6,815,918 which is inefficient.

FIG. 10 illustrates pool cleaner 10, pool bottom 220 and sidewall 210.

Pool cleaner 10 follows a cleaning path 240 that includes cleaning pathsegments that are non-vertical—such as horizontal path cleaning segments241, 242, 243, 244, 245 and 246.

The pool cleaner 10 may turn (251) between one cleaning path segment toanother- or perform any other maneuver between cleaning path segments241-246.

Pool cleaner 210 may clean the entire sidewall 210 without touching thebottom of the pool.

Cleaning path 240 include fewer turns or direction changing maneuversand/or electrical power energy waste than the cleaning path of FIG. 9.

FIG. 11 illustrates pool cleaner 10, pool bottom 220, sidewall 210 and aregion 211 of sidewall 210 that is cleaner by pool cleaner 210. Region211 is positioned below waterline 222. It is noted that region 211 mayinclude the waterline.

Region 211 may be wider and/or longer than pool cleaner 10 and may spanalong any portion of sidewall 210.

FIG. 12 illustrates pool cleaner 10, pool bottom 220 and sidewall 210.

Pool cleaner 10 follows a cleaning path 260 that includes cleaning pathsegments that are non-vertical and non-horizontal—such as oriented pathcleaning segments 261, 262, 263, 264, 265 and 266.

The pool cleaner 10 may turn between one cleaning path segment toanother- or perform any other maneuver (252, 253) between cleaning pathsegments 261-266.

Pool cleaner 210 may clean the entire sidewall 210 without touching thebottom of the pool.

Cleaning path 260 include fewer turns or direction changing maneuversthan the cleaning path of FIG. 9.

FIG. 13 illustrates method 300 according to an embodiment of theinvention.

Method 300 may start by initialization step 310 of receiving ordetermining a cleaning path.

The pool cleaner may determine the cleaning path based on the region tobe cleaned (for example the certain region of a sidewall) and one ormore parameters. The one or more parameters may include the number ofturns that should be made by the pool cleaner in order to clean thecertain region, the overall required duration of the cleaning process,and the like.

Step 310 may be followed by steps 320, 330 and 340.

Step 320 may include sensing, by at least one sensor of the poolcleaner, an actual yaw of the pool cleaner and an actual orientation ofthe pool cleaner.

Step 330 may include cleaning, by the pool cleaner, a certain region ofa sidewall of a pool while moving the pool cleaner, by at least onesteering element of the pool cleaner, along a cleaning path thatcomprises a cleaning path segment that has a cleaning path segment yawthat is non-vertical yaw.

Step 340 may include controlling, by a controller of the pool cleaner,the at least one steering element, based on the actual yaw of the poolcleaner. The controlling may include attempting to maintain the poolcleaner on the cleaning path, correcting errors such as yaw errors, andthe like.

Regarding method 300, at least one of the following is true:

-   -   a. The controller is configured to determine the cleaning path        to include a minimal number of pool cleaner turns.    -   b. The controller is configured to determine the cleaning path        to include less than a predetermined number of turns; wherein        the predetermined number of turns is associated with a cleaning        path that mostly includes vertical yaw cleaning path segments.    -   c. The certain region is fully submerged.    -   d. The pool cleaner includes at least one steering element that        may include a steering module that is configured to        independently drive different interfacing elements of the pool        cleaner. Each interfacing element interfaces between the pool        cleaner and the pool.    -   e. The pool cleaner includes at least one steering element that        is configured to move the pool cleaner along the cleaning path        while performing a minimal number of turns.    -   f. The pool cleaner includes at least one steering element that        is configured to move the pool cleaner along the cleaning path        while performing less than a predetermined number of turns. The        predetermined number of turns is associated with a cleaning path        that mostly includes vertical yaw cleaning path segments.

FIG. 14 illustrates pool cleaner 10—and especially shows some of thecomponents that may be included in pool cleaner 10—some of which werenot illustrated in the previous figures—and some were illustrated inprevious figures.

Pool cleaner 400 may include at least one of the following elements:

-   -   a. A hollow body 430,    -   b. A fluid intake aperture 431,    -   c. A fluid outlet aperture 432,    -   d. A hydraulic path stretching between the said intake and        outlet,    -   e. A filtering and/or sieving element (filtering unit 420)        positioned inside the said hydraulic path,    -   f. A pumping motor (such as pump motor 440) positioned in the        hydraulic path,    -   g. One or more drive motors 415,    -   h. One or more transmission mechanisms 416 such as one or more        gears and or wheel connecting shafts.    -   i. Interfacing elements such as wheels, tracks and the like,    -   j. Pool surface dirt brushes or scrappers,    -   k. Auxiliary brushing or scrapping member,    -   l. At least one carrying floatation handle or a “bow-type”        handle,    -   m. Electronics 460 that may include one or more out of:        -   i. Electrical tethered power supply cable 467,        -   ii. Rechargeable battery 461,        -   iii. A communication unit 263 for communicating (wirelessly            or in a wired manner) with another device (submerged and/or            above-the-water device).        -   iv. Controller 463.        -   v. Power supply unit 464.        -   vi. Video device 465 that captures, memorizes locations of            pool features or obstacles and calculates the relative angle            and distance of the robot from these features to further            calculate the robot location in the pool.        -   vii. A lighting optical recognition aid (LORA) device 466            for night time and/or for high turbidity conditions that may            also employ an infrared light device.    -   n. One or more sensor 450 such as a camera, a yaw sensor, an        inclination sensor, a motion sensor, a gyroscope, a laser and/or        a tilt wall recognition sensor, a turbidity sensor, a heading        direction measurement sensor such as magnetometer, a compass, a        gyrocompass, an impact sensor, a pressure sensor, a pump motor        velocity sensor, a current sensor, and the like.

FIG. 18 illustrates method 500.

Method 500 starts by initialization step 510.

Initialization step 510 may include receiving a desired waterlinenon-vertical yaw. The pool cleaner will have to attempt to move alongthe waterline at the desired waterline non-vertical yaw.

The desired waterline non-vertical yaw may be defined by a user, by amanufacturer of the pool cleaner or ay any party.

Different yaw may be associated with different propagation speed of thepool cleaner. For example—the smallest propagation speed may beassociated with a vertical yaw and may increase as the non-vertical yawis closer to a horizontal yaw.

A party (user, manufacturer or any third party) may feed a desiredpropagation speed (such as a desired waterline propagation speed) andthe pool cleaner, third party or user controller (computer that isconfigured to send commands to the pool cleaner) may convert the desiredpropagation speed to the desired waterline non-vertical yaw.

Initialization step 510 may be followed by step 520 of detecting, by thepool cleaner, that the pool cleaner reached the waterline. The poolcleaner may use any sensor and/or any technique to sense that the poolcleaner reached the waterline. Yaw sensors, timers (may count the timefrom the start of the climbing of the sidewall), pressure sensors,weight sensors, image sensor or any other sensors.

Step 520 is followed by step 530 of positioning the pool cleaner at thedesired waterline non-vertical yaw.

It should be noted that step 520 may include detecting, by the poolcleaner, that the pool cleaner is proximate (for example—below 20centimeters, or any predefined distance) to the waterline (beforereaching the waterline), and starting step 530 before reaching thewaterline.

Step 530 may be followed by step 540 moving the pool cleaner along thewaterline while the pool cleaner is positioned at the desired waterlinenon-vertical yaw.

Step 540 may allow temporal deviations from the desired waterlinenon-vertical yaw—and may include attempting to correct these deviations.

Step 540 may include step 541 of monitoring the actual yaw of the poolcleaner while moving along the waterline and step 542 of compensatingfor differences between the actual yaw of the pool cleaner and desiredwaterline non-vertical yaw.

Step 542 may include using any steering element illustrated in thespecification or any combination of any steering elements illustrated inthe specification.

For example—step 542 may be executed using only a steering module thatis configured to independently drive different interfacing elements ofthe pool cleaner; wherein each interfacing element interfaces betweenthe pool cleaner and the pool.

In the foregoing specification, the invention has been described withreference to specific examples of embodiments of the invention. It will,however, be evident that various modifications and changes may be madetherein without departing from the broader spirit and scope of theinvention as set forth in the appended claims.

Moreover, the terms “front,” “back,” “rear” “top,” “bottom,” “over,”“under” and the like in the description and in the claims, if any, areused for descriptive purposes and not necessarily for describingpermanent relative positions. It is understood that the terms so usedare interchangeable under appropriate circumstances such that theembodiments of the invention described herein are, for example, capableof operation in other orientations than those illustrated or otherwisedescribed herein.

The connections as discussed herein may be any type of connectionsuitable to transfer signals from or to the respective nodes, units, ordevices, for example via intermediate devices. Accordingly, unlessimplied or stated otherwise, the connections may for example be directconnections or indirect connections. The connections may be illustratedor described in reference to being a single connection, a plurality ofconnections, unidirectional connections, or bidirectional connections.However, different embodiments may vary the implementation of theconnections. For example, separate unidirectional connections may beused rather than bidirectional connections and vice versa. Also,plurality of connections may be replaced with a single connection thattransfers multiple signals serially or in a time multiplexed manner.Likewise, single connections carrying multiple signals may be separatedout into various different connections carrying subsets of thesesignals. Therefore, many options exist for transferring signals.

Although specific conductivity types or polarity of potentials have beendescribed in the examples, it will be appreciated that conductivitytypes and polarities of potentials may be reversed.

Those skilled in the art will recognize that the boundaries betweenvarious components are merely illustrative and that alternativeembodiments may merge various components or impose an alternatedecomposition of functionality upon various components. Thus, it is tobe understood that the architectures depicted herein are merelyexemplary, and that in fact many other architectures can be implementedwhich achieve the same functionality.

Any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with” Each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected,” or“operably coupled,” to Each other to achieve the desired functionality.

Furthermore, those skilled in the art will recognize that boundariesbetween the above described operations merely illustrative. The multipleoperations may be combined into a single operation, a single operationmay be distributed in additional operations and operations may beexecuted at least partially overlapping in time. Moreover, alternativeembodiments may include multiple instances of a particular operation,and the order of operations may be altered in various other embodiments.

However, other modifications, variations and alternatives are alsopossible. The specifications and drawings are, accordingly, to beregarded in an illustrative rather than in a restrictive sense.

In the claims, any reference signs placed between parentheses shall notbe construed as limiting the claim. The word ‘comprising’ does notexclude the presence of other elements or steps than those listed in aclaim. Furthermore, the terms “a” or “an,” as used herein, are definedas one or more than one. Also, the use of introductory phrases such as“at least one” and “one or more” in the claims should not be construedto imply that the introduction of another claim element by theindefinite articles “a” or “an” limits any particular claim containingsuch introduced claim element to inventions containing only one suchelement, even when the same claim includes the introductory phrases “oneor more” or “at least one” and indefinite articles such as “a” or “an.”The same holds true for the use of definite articles. Unless statedotherwise, terms such as “first” and “second” are used to arbitrarilydistinguish between the elements such terms describe. Thus, these termsare not necessarily intended to indicate temporal or otherprioritization of such elements. The mere fact that certain measures arerecited in mutually different claims does not indicate that acombination of these measures cannot be used to advantage.

While certain features of the invention have been illustrated anddescribed herein, many modifications, substitutions, changes, andequivalents will now occur to those of ordinary skill in the art. It is,therefore, to be understood that the appended claims are intended tocover all such modifications and changes as fall within the true spiritof the invention.

We claim:
 1. A pool cleaner for cleaning a pool, the pool cleanercomprising: a filtering element for filtering fluid; at least one sensorfor sensing an actual yaw of the pool cleaner and an actual orientationof the pool cleaner; a controller; at least one steering element thatcomprise a steering module that is constructed and arranged toindependently drive different interfacing elements of the pool cleanerthereby moving the pool cleaner along a cleaning path while the poolcleaner is fully submerged, during a cleaning process of a certainregion that covers at least a majority of a sidewall of the pool;wherein each said interfacing element interfaces between the poolcleaner and the pool; wherein the controller is constructed and arrangedto control, based on the actual yaw of the pool cleaner, the at leastone steering element to propagate along the cleaning path, wherein thecleaning path mostly includes cleaning path segments that have cleaningpath segment yaws that are non-vertical; wherein a propagation along thecleaning path involves less numbers of turns than a propagation alonganother cleaning path that mostly includes propagating along cleaningpath segments having a vertical yaw.
 2. The pool cleaner according toclaim 1 wherein the non-vertical yaws are horizontal.
 3. The poolcleaner according to claim 2 wherein the at least one steering elementis configured to move the pool cleaner at a backward direction along thecleaning path segment.
 4. The pool cleaner according to claim 2 whereinthe pool cleaner is configured to contact the certain region of thesidewall of the pool while performing a horizontal movement along thecertain region of the sidewall of the pool.
 5. The pool cleaneraccording to claim 1 wherein the different interfacing elements of thepool cleaner are positioned at opposite sides of the pool cleaner. 6.The pool cleaner according to claim 1 wherein certain region comprisesan obstacle.
 7. The pool cleaner according to claim 1 wherein the atleast one steering element is configured to move the pool cleaner alongmultiple cleaning paths of the cleaning path, each of the multiplecleaning paths has a cleaning path segment yaw that is non-vertical yaw.8. The pool cleaner according to claim 7 wherein the multiple cleaningpath segments overlap most of the certain region.
 9. The pool cleaneraccording to claim 7 wherein the at least one steering element isconfigured to move the pool cleaner along the cleaning path whilemaintaining in contact with the pool sidewall.
 10. The pool cleaneraccording to claim 9 wherein the certain region is longer and wider thanthe pool cleaner.
 11. The pool cleaner according to claim 7 wherein aplurality of pool cleaning path segments out of the multiple poolcleaning paths are parallel to each other and wherein the at least onesteering element is configured to turn the pool cleaner when movingbetween the plurality of pool cleaning path segments while maintainingcontact with the pool sidewall.
 12. The pool cleaner according to claim1 wherein the controller is configured to determine the cleaning path toinclude a minimal number of turns.
 13. The pool cleaner according toclaim 1 wherein the controller is configured to determine the cleaningpath.
 14. The pool cleaner according to claim 1 wherein the at least onesensor is configured to detect that the pool cleaner reached awaterline; wherein the controller is configured to control the at leastone steering element to position the pool cleaner at a non-vertical yawand to move the pool cleaner along the waterline while the pool cleaneris positioned at the non-vertical yaw.
 15. The pool cleaner according toclaim 14 wherein the pool cleaner is configured to receive a waterlinepropagation speed value, and to determine a value of the waterlinenon-vertical yaw based on the waterline propagation speed value.
 16. Thepool cleaner according to claim 1 wherein the non-vertical yaws arenon-horizontal.
 17. The pool cleaner according to claim 1 wherein thecleaning path segments that have cleaning path segment yaws that arenon-vertical comprises first cleaning path segments of a firstnon-vertical yaw and second cleaning path segments of a secondnon-vertical yaw; wherein the first non-vertical yaw is oriented to thesecond non-vertical yaw.
 18. The pool cleaner according to claim 17wherein the pool cleaner is without a maneuverable handle.